% Copyright 2020 Makani Technologies LLC
%
% Licensed under the Apache License, Version 2.0 (the "License");
% you may not use this file except in compliance with the License.
% You may obtain a copy of the License at
%
%      http://www.apache.org/licenses/LICENSE-2.0
%
% Unless required by applicable law or agreed to in writing, software
% distributed under the License is distributed on an "AS IS" BASIS,
% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
% See the License for the specific language governing permissions and
% limitations under the License.

function [x,xd,xdd] = SineWaveAndDerivatives(amp,frq,pha,angles);

x = amp*sin(frq*angles + pha);
xd = amp*frq*cos(frq*angles + pha);
xdd = -amp*frq*frq*sin(frq*angles + pha);